sensor_model.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_MESH_FILTER_SENSOR_MODEL_
#define MOVEIT_MESH_FILTER_SENSOR_MODEL_

#include <moveit/macros/class_forward.h>
#include <Eigen/Eigen>

namespace mesh_filter
{
// forward declarations
class GLRenderer;

class SensorModel
{
public:
  MOVEIT_CLASS_FORWARD(Parameters);

  class Parameters
  {
  public:
    Parameters(unsigned width, unsigned height, float near_clipping_plane_distance, float far_clipping_plane_distance);

    virtual ~Parameters();

    virtual void setRenderParameters(GLRenderer& renderer) const = 0;

    virtual void setFilterParameters(GLRenderer& renderer) const = 0;

    virtual Parameters* clone() const = 0;

    virtual const Eigen::Vector3f& getPaddingCoefficients() const = 0;

    virtual void transformModelDepthToMetricDepth(float* depth) const;

    virtual void transformFilteredDepthToMetricDepth(float* depth) const;

    void setImageSize(unsigned width, unsigned height);

    void setDepthRange(float near, float far);

    unsigned getWidth() const;

    unsigned getHeight() const;

    float getNearClippingPlaneDistance() const;

    float getFarClippingPlaneDistance() const;

  protected:
    unsigned width_;

    unsigned height_;

    float far_clipping_plane_distance_;

    float near_clipping_plane_distance_;
  };

  virtual ~SensorModel();
};
}  // namespace mesh_filter

#endif